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Copter: reduce alt hold defaults

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Throttle Rate P to 5.0 (was 6.0)
Throttle Accel P to 0.5 (was 0.75)
Throttle Accel I to 1.0 (was 1.5)
This commit is contained in:
Randy Mackay 2014-09-07 22:14:40 +09:00
parent 62a4e66481
commit 4b47a618a4
1 changed files with 15 additions and 15 deletions
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30
ArduCopter/config.h
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@ -685,7 +685,21 @@
// RATE control // RATE control
#ifndef THROTTLE_RATE_P #ifndef THROTTLE_RATE_P
# define THROTTLE_RATE_P 6.0f # define THROTTLE_RATE_P 5.0f
#endif
// Throttle Accel control
#ifndef THROTTLE_ACCEL_P
# define THROTTLE_ACCEL_P 0.50f
#endif
#ifndef THROTTLE_ACCEL_I
# define THROTTLE_ACCEL_I 1.00f
#endif
#ifndef THROTTLE_ACCEL_D
# define THROTTLE_ACCEL_D 0.0f
#endif
#ifndef THROTTLE_ACCEL_IMAX
# define THROTTLE_ACCEL_IMAX 500
#endif #endif
// default maximum vertical velocity and acceleration the pilot may request // default maximum vertical velocity and acceleration the pilot may request
@ -705,20 +719,6 @@
# define ALT_HOLD_ACCEL_MAX 250 // if you change this you must also update the duplicate declaration in AC_WPNav.h # define ALT_HOLD_ACCEL_MAX 250 // if you change this you must also update the duplicate declaration in AC_WPNav.h
#endif #endif
// Throttle Accel control
#ifndef THROTTLE_ACCEL_P
# define THROTTLE_ACCEL_P 0.75f
#endif
#ifndef THROTTLE_ACCEL_I
# define THROTTLE_ACCEL_I 1.50f
#endif
#ifndef THROTTLE_ACCEL_D
# define THROTTLE_ACCEL_D 0.0f
#endif
#ifndef THROTTLE_ACCEL_IMAX
# define THROTTLE_ACCEL_IMAX 500
#endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// Dataflash logging control // Dataflash logging control
// //